version: 66.11
glider: 169
mission: 8
dive: 77
start: 3 31 113 5 33 2
data:
$ID,169
$MISSION,8
$DIVE,77
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20953.82
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,48
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2575
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,310313,052005,1812.095,12255.227,36,1.1,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-73.1
$GPS2,310313,053235,1812.285,12255.215,14,1.3,30,-2.0
$SPEED_LIMITS,0.147,0.249
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,280.4,76893,-2.9,-8.462,-18.75,3180
$D_GRID,3782
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.50,-175.2,131,2557,1349,1106,0.0,0.0,0,94,0.00,0.00,-68.62,0.000,16386,0.000,0.000,130,2558,3003,2932,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.50,-175.2,130,2558,2931,3075,3.9,-9.0,9,124,8.35,2.70,-9.57,0.000,18948,0.234,0.042,2219,1122,3571,3434,3708,0,0,0,0,0,0,25.93,26.20,26.47
$GC,241,-0.50,-175.2,2219,1123,3436,3708,55.7,-25.6,22,247,0.00,2.72,0.00,0.000,1030,0.000,0.034,2207,2579,3572,3436,3708,0,0,0,0,0,0,28.83,26.30,28.83
$GC,561,-0.50,-175.2,2206,2576,3437,3708,160.8,-28.4,38,568,0.00,2.70,0.00,0.000,516,0.000,0.034,2206,1124,3572,3437,3708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,691,-0.50,-175.2,2207,1124,3437,3708,185.5,-16.5,44,698,0.00,2.67,0.00,0.000,1030,0.000,0.036,2206,2565,3572,3437,3708,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1019,-0.50,-175.2,2206,2562,3440,3708,245.6,-17.7,60,1025,0.00,2.62,0.00,0.000,516,0.000,0.029,2206,1111,3573,3439,3708,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1123,-0.50,-175.2,2206,1111,3440,3708,260.1,-16.0,64,1131,0.00,2.62,0.00,0.000,1030,0.000,0.037,2206,2549,3574,3440,3708,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1427,-0.50,-175.2,2206,2546,3443,3708,307.0,-13.2,80,1433,0.00,2.60,0.00,0.000,516,0.000,0.031,2206,1111,3573,3439,3708,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1515,-0.50,-175.2,2206,1110,3439,3708,317.6,-12.0,84,1521,0.00,2.62,0.00,0.000,1030,0.000,0.037,2206,2541,3573,3439,3707,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1843,-0.50,-175.2,2206,2538,3439,3706,355.1,-10.7,100,1849,0.00,2.55,0.00,0.000,516,0.000,0.029,2206,1125,3573,3441,3706,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1895,-0.50,-175.2,2206,1125,3439,3706,360.6,-11.3,102,1901,0.00,2.55,0.00,0.000,1030,0.000,0.031,2199,2541,3572,3439,3706,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2217,-0.50,-175.2,2199,2538,3439,3701,396.6,-10.7,118,2224,0.00,2.53,0.00,0.000,516,0.000,0.028,2199,1125,3570,3439,3701,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2269,-0.50,-175.2,2199,1124,3439,3701,402.1,-11.4,120,2275,0.12,2.55,0.00,0.000,3078,0.137,0.032,2232,2541,3570,3439,3701,0,0,0,0,0,0,26.62,26.68,28.83
$GC,2592,-0.50,-175.2,2233,2539,3439,3695,430.6,-9.3,136,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2539,3567,3439,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,-0.50,-175.2,2232,2541,3438,3689,459.0,-9.6,151,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2538,3563,3438,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.50,-175.2,2232,2538,3438,3684,484.5,-7.4,166,3197,0.00,2.55,0.00,0.000,516,0.000,0.028,2233,1104,3560,3438,3683,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3233,-0.50,-175.2,2233,1104,3438,3683,486.4,-7.4,167,3242,0.00,2.55,0.00,0.000,1030,0.000,0.032,2233,2539,3560,3438,3682,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3537,-0.50,-175.2,2232,2537,3438,3676,507.6,-6.5,183,3544,0.00,2.03,0.00,0.000,260,0.000,0.047,2223,3838,3557,3438,3676,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3586,-0.50,-175.2,2222,3838,3439,3675,510.8,-6.6,185,3592,0.00,2.00,0.00,0.000,1030,0.000,0.025,2223,2509,3556,3438,3675,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3914,-0.50,-175.2,2223,2509,3438,3669,537.7,-8.8,201,3919,0.00,2.17,0.00,0.000,260,0.000,0.050,2220,3836,3554,3438,3670,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3948,-0.50,-175.2,2220,3838,3438,3669,540.1,-8.9,202,3954,0.00,1.98,0.00,0.000,1030,0.000,0.026,2220,2510,3553,3438,3669,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4263,-0.50,-175.2,2220,2510,3433,3663,570.5,-9.6,218,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2510,3550,3438,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4564,-0.50,-175.2,2220,2510,3438,3660,598.9,-9.1,233,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2510,3548,3437,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4886,-0.50,-175.2,2219,2509,3441,3656,627.0,-8.8,244,4893,0.00,2.17,0.00,0.000,260,0.000,0.053,2220,3834,3548,3435,3662,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4928,-0.50,-175.2,2220,3834,3435,3655,630.3,-8.7,245,4933,0.00,1.98,0.00,0.000,1030,0.000,0.027,2220,2511,3545,3435,3655,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5258,-0.50,-175.2,2220,2511,3435,3650,657.0,-7.5,256,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2512,3542,3435,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5558,-0.50,-175.2,2220,2511,3434,3648,680.1,-7.8,266,5565,0.00,2.47,0.00,0.000,516,0.000,0.036,2219,1115,3541,3434,3648,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5583,-0.50,-175.2,2220,1115,3434,3648,680.1,-7.8,266,5590,0.00,2.58,0.00,0.000,1030,0.000,0.036,2220,2543,3541,3434,3648,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5902,-0.50,-175.2,2219,2541,3431,3645,707.7,-8.3,277,5908,0.00,2.03,0.00,0.000,260,0.000,0.051,2210,3835,3538,3431,3645,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5943,-0.50,-175.2,2210,3836,3431,3645,711.0,-8.4,278,5949,0.00,2.00,0.00,0.000,1030,0.000,0.028,2210,2514,3537,3430,3645,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6273,-0.50,-175.2,2210,2514,3430,3642,741.2,-9.0,289,6279,0.00,2.45,0.00,0.000,516,0.000,0.034,2210,1120,3535,3430,3641,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6302,-0.50,-175.2,2210,1120,3430,3642,741.2,-9.0,289,6310,0.00,2.55,0.00,0.000,1030,0.000,0.034,2203,2543,3535,3430,3641,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6610,-0.50,-175.2,2206,2541,3429,3638,771.8,-9.3,300,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2541,3533,3429,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6909,-0.50,-175.2,2206,2540,3427,3637,798.5,-8.8,310,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2540,3532,3427,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7209,-0.50,-175.2,2207,2540,3426,3634,823.8,-8.3,320,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2540,3530,3426,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7509,-0.50,-175.2,2206,2540,3425,3633,847.8,-8.1,330,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2540,3529,3425,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7810,-0.50,-175.2,2207,2540,3425,3631,871.2,-7.7,340,7816,0.00,2.55,0.00,0.000,516,0.000,0.033,2206,1108,3528,3425,3631,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7839,-0.50,-175.2,2207,1108,3425,3630,871.2,-7.7,340,7848,0.00,2.58,0.00,0.000,1030,0.000,0.034,2206,2540,3526,3425,3628,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8149,-0.50,-175.2,2211,2538,3424,3629,899.0,-8.4,351,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2538,3525,3425,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8446,-0.50,-175.2,2206,2538,3424,3627,924.3,-8.7,361,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2538,3525,3424,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8746,-0.50,-175.2,2206,2538,3424,3626,952.2,-9.4,371,8752,0.00,2.55,0.00,0.000,516,0.000,0.032,2206,1104,3525,3424,3626,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8800,-0.50,-175.2,2206,1104,3424,3626,956.4,-10.0,372,8807,0.00,2.58,0.00,0.000,1030,0.000,0.033,2202,2541,3525,3424,3626,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9118,-0.50,-175.2,2204,2539,3423,3625,985.6,-8.5,383,9126,0.00,2.05,0.00,0.000,260,0.000,0.050,2193,3836,3523,3422,3625,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9160,-0.50,-175.2,2193,3836,3422,3625,989.0,-8.6,384,9167,0.12,2.03,0.00,0.000,3078,0.128,0.028,2232,2513,3523,3422,3625,0,0,0,0,0,0,26.62,26.74,28.83
$STATE,9188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9188,begin apogee
$GC,9195,-0.10,0.0,2232,2332,3423,3625,992.6,-9.0,385,9352,0.32,0.15,150.98,1.014,10244,0.092,0.073,2355,2403,2849,2862,2837,0,0,0,0,0,0,26.63,24.94,24.28
$STATE,9356,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9358,0.50,175.2,2355,2403,2853,2818,996.9,0.0,389,9538,0.50,2.60,164.15,0.987,10756,0.041,0.030,2564,896,2123,2250,1997,0,0,0,0,0,0,25.15,25.14,24.14
$GC,9562,0.59,211.1,2564,896,2238,1986,988.8,7.3,395,9610,0.00,2.53,34.78,0.942,9222,0.000,0.025,2553,2395,1978,2114,1842,0,0,0,0,0,0,28.83,25.19,24.27
$GC,9903,0.59,211.1,2553,2394,2100,1827,943.3,12.3,407,9909,0.00,2.45,0.00,0.000,516,0.000,0.027,2565,894,1963,2099,1827,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9922,0.59,211.1,2564,894,2096,1827,943.3,12.3,407,9928,0.00,2.47,0.00,0.000,1030,0.000,0.024,2561,2410,1961,2095,1827,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10242,0.59,211.1,2562,2408,2089,1829,899.8,12.5,418,10248,0.00,2.40,0.00,0.000,260,0.000,0.041,2553,3830,1959,2089,1829,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10393,0.59,211.1,2553,3829,2087,1828,882.6,13.5,422,10402,0.00,2.35,0.00,0.000,1030,0.000,0.017,2565,2364,1958,2088,1828,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10704,0.59,211.1,2567,2363,2084,1829,845.2,10.8,433,10710,0.00,2.53,0.00,0.000,260,0.000,0.041,2554,3833,1956,2085,1828,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10867,0.59,211.1,2553,3832,2084,1833,826.3,11.6,438,10873,0.00,2.30,0.00,0.000,1030,0.000,0.018,2565,2381,1957,2085,1829,0,0,0,0,0,0,28.83,26.48,28.83
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$STATE,18862,end climb,SURFACE_DEPTH_REACHED
$STATE,18862,begin surface coast
$FINISH,-0.0,1.021631
$STATE,18886,end surface coast,CONTROL_FINISHED_OK
$STATE,18886,begin surface
$SM_CCo,18907,15.12,0.126,0,0,1221,400.08
$SM_GC,0.58,6.57,2.97,15.12,0.031,0.024,0.126,138,2590,1221,-6.97,-0.25,400.08,0,0,0,0,0,0,26.49,26.52,26.34
$IRIDIUM_FIX,1758.70,12254.87,300313,232303
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.87
$INTERNAL_PRESSURE,9.44728
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3982720
$24V_AH,24.1,10.216
$10V_AH,10.3,7.767
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.700,167.900,501.450,15.125,0.000,0.000,0.000,433.400,0.000,0.000,31.052,3632.291,11930.095,722.470,2636.588,712.068,0.000,2298.603,0.000,2025.114,0.000,0.545,0.000
$DEVICE_MAMPS,234.090,138.465,1013.625,126.225,0.000,0.000,0.000,124.695,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18989.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.464,0.000,0.000,0.000
$MEM,329128
$DATA_FILE_SIZE,30106,847
$CAP_FILE_SIZE,455343,0
$CFSIZE,260034560,243859456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.524,317.3,1
$GPS,310313,104936,1815.996,12249.620,37,0.9,37,-2.0